see: src/base/reconstruction.cc void Reconstruction::ReadPoints3DBinary(const std::string& path) void Reconstruction::WritePoints3DBinary(const std::string& path)
(path_to_model_file)
| 111 | return xyzs, rgbs, errors |
| 112 | |
| 113 | def read_points3D_binary(path_to_model_file): |
| 114 | """ |
| 115 | see: src/base/reconstruction.cc |
| 116 | void Reconstruction::ReadPoints3DBinary(const std::string& path) |
| 117 | void Reconstruction::WritePoints3DBinary(const std::string& path) |
| 118 | """ |
| 119 | |
| 120 | |
| 121 | with open(path_to_model_file, "rb") as fid: |
| 122 | num_points = read_next_bytes(fid, 8, "Q")[0] |
| 123 | |
| 124 | xyzs = np.empty((num_points, 3)) |
| 125 | rgbs = np.empty((num_points, 3)) |
| 126 | errors = np.empty((num_points, 1)) |
| 127 | |
| 128 | for p_id in range(num_points): |
| 129 | binary_point_line_properties = read_next_bytes( |
| 130 | fid, num_bytes=43, format_char_sequence="QdddBBBd") |
| 131 | xyz = np.array(binary_point_line_properties[1:4]) |
| 132 | rgb = np.array(binary_point_line_properties[4:7]) |
| 133 | error = np.array(binary_point_line_properties[7]) |
| 134 | track_length = read_next_bytes( |
| 135 | fid, num_bytes=8, format_char_sequence="Q")[0] |
| 136 | track_elems = read_next_bytes( |
| 137 | fid, num_bytes=8*track_length, |
| 138 | format_char_sequence="ii"*track_length) |
| 139 | xyzs[p_id] = xyz |
| 140 | rgbs[p_id] = rgb |
| 141 | errors[p_id] = error |
| 142 | return xyzs, rgbs, errors |
| 143 | |
| 144 | def read_intrinsics_text(path): |
| 145 | """ |
no test coverage detected